Personal sonar system

ABSTRACT

The sonar device includes a sonar transducer, a noise filter, a microprocessor and an output device. The system warns the user when a hazardous objects is detected or when signals from companions decrease. The portable sonar device can be built into various watersport devices including scuba diving equipment, surfboards and windsurfboards.

This is a continuation of U.S. patent application Ser. No. 11/053,789filed Feb. 9, 2005, now U.S. Pat. No. 7,145,835, which claims priorityto U.S. Provisional Patent Application No. 60/543,579 filed Feb. 10,2004. Both U.S. patent application Ser. Nos. 11/053,789 and 60/543,579are hereby incorporated by reference.

BACKGROUND

Sonar (SOund NAvigation Ranging) technology is used to detect objectsunder the water. A sonar device emits acoustic pulses in water andreceives an echo from any objects that the acoustic pulse reflects backfrom. The distance between the sonar device and the object can bedetermined by measuring the time between the pulse transmission andreflected pulse reception. Active sonar creates a pulse of sound, oftencalled a “ping”, and then listens for reflections of the pulse. Tomeasure the distance to an object, one measures the time from emissionof a pulse to reception. The acoustic pulse travels at the speed ofsound underwater, thus the distance is determined by the (speed ofsound)/(time between sending and receiving the pulse/2).

The pulse may be at constant frequency or a chirp of changing frequency.For a chirp, the receiver correlates the frequency of the reflections tothe known chirp. The resultant processing gain allows the receiver toderive the same information as if a much shorter pulse of the same totalenergy were emitted.

SUMMARY OF THE INVENTION

The present invention is a personal sonar system that can be used inmost water sport applications and comprises a sonar transducer, aprocessor and an output device. In a surfing embodiment, the sonardevice is integrated into the user's surfboard. In a preferredembodiment, the sonar transducer is mounted at the back end of the boardand emits a wide angle sonar signal which will detect large movingunderwater animals including predatory fish. Electrical signals from thetransducer are filtered to remove background noise which is caused bythe movement of the surfboard due to ocean swells and stationaryunderwater objects on the sea floor. The electrical filter can befrequency based or may be a software algorithm running on amicroprocessor. The algorithm may be a neural network or an adaptivesystem. The signal alerts the user when a large underwater animal isdetected. The alert signal may be an optical light signal or an audiosignal. The light and/or speaker may be mounted on the upper frontsurface of the surfboard which is easily noticeable to a surfer sittingon the rear of the board waiting for a wave to ride.

In another embodiment, the sonar unit may be mounted in a self containedhousing for use by snorkelers and scuba divers. In underwaterembodiments, the system not only detects large animals but also theseparation from companions. The system detects the normal presence ofcompanions based upon the reflected sonar signal or the detection ofsignals from the companions' sonar devices. When a companion signalgrows faint, the system emits a warning signal to alert the user ofseparation. By knowing when a companion has separated from the group itbecomes much easier for the user to start looking immediately for thecompanion. This can be particularly useful in low visibility situationssuch as night or cave diving.

In order to improve accuracy, the inventive system has an ambientcalibration mode that allows the user to calibrate the system on site tothe ambient underwater sounds. When a user enters the water, the areacan be visually scanned for large animals. The close presence of largeunderwater animals is rare, thus the system user is normally safe. Everybody of water has unique acoustic characteristics by tuning the unit tothe specific location, the accuracy of the detection is improved. Duringany safe period, the unit can be set to calibration mode. The sonar unittransmits signals and detects the ambient reflected signals. Thisambient signal is stored in the system's memory and used to calibratethe sonar system. This calibration mode allows the inventive sonarsystem to adapt to the location of the user and provides substantiallyenhanced detection accuracy. After calibration, the system is able tomore easily detect unusual objects in the vicinity such as sharks.

The inventive unit can also be used to detect the presence of companionswho need to stay in the proximity of the user. This function isimportant to avoid separation or be notified of separation from a group.The system may also have a companion calibration mode that allow theuser to calibrate the sonar unit to detect companions on site. Thecompanion detection mode is similar to the calibration mode. When theuser is in the water, the user can actuate the companion calibrationmode. The system detects the normal reflected signals produced by allcompanions or signals emitted by each companion and learns to recognizethe companion signals. The companion system detects when any companionsignal gets faint and warns the user of a companion's separation fromthe group while in the water.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of the basic components of the inventive sonardevice;

FIG. 2 is an illustration of a scuba diver using the inventive handheldsonar device;

FIG. 3 is a top view of the handheld sonar device;

FIG. 4 is a side view of the handheld sonar device; and

FIG. 5 is an illustration of a surfboard that incorporates the inventivesonar device.

DETAILED DESCRIPTION

The present invention is a waterproof sonar device for use whilesurfing, scuba diving or other water sports. The inventive sonar deviceis used to locate sharks and other large animals. With reference to FIG.1, the basic components of the sonar device include a transmitter 103, atransducer 105, a receiver 107, a display/user interface 109 andmicroprocessor 115. The microprocessor 115 instructs the transmitter 103to emit sound waves 111 that are sent through the water 113. When thesound wave 111 strikes an object 117, it rebounds and returns to thetransducer 105, after which it is converted back to an electrical signalthat is amplified by the receiver 107 and the detected signals areprocessed by the microprocessor 115. The display/user interface 109keeps the user apprised of the current operating conditions and warnsthe user of large objects in the area as well as the separation ofdivers.

The distance to an object can be determined based upon the time it takesfor the signal to travel to an object and to return to the source. Sincethe speed of sound in water is relatively constant at approximately4,800 feet per second, there is a direct relationship between time anddistance. This process is repeated many times per second. In anembodiment, the microprocessor may include electronic memory such as aflash memory card or dynamic random access memory (RAM). Thesecomponents are powered by electrical power which is normally suppliedthrough a rechargeable battery. In an alternative embodiment, solarcells may be used as the primary power source or as a means ofrecharging the battery. The battery may also have a water proofconnector which allows the batter to be recharged through householdelectrical power when the device is not in use. The battery may also bemagnetically coupled to the recharger so that a direct electricalcontact is not required. The battery may also be attached to the weightbelt. Because the batteries are heavy, they can replace many of the leadweight typically used in a weight belt for neutral buoyancy.

In an embodiment, the present fish detection invention uses a portablesonar (an acronym for “SOund, NAvigation and Ranging”) device to detectobjects such as large fish or sharks in proximity to the user. Thedevices are suitable for the sonar device include, surfboards, scubaequipment, windsurfers, boats and handheld underwater devices. Theinvention allows the individual to detect or be alerted to the presenceof a large fish so that evasive action can be taken. By detecting thepresence of sharks, severe personal injury may be avoided. Sonartransducers come in many forms and are mounted on a surface that issubmerged in the water. Each transducer is rated by the degree of coneangle. In general, a wide cone angle gives better results in shallow tomedium depths while the narrow cone angle penetrates better to deeperdepths but doesn't show as many fish or as much structure due to itsnarrow beam. Thus, for surfboards which are used primarily in shallowwater a wide angle transducer may be more suitable than a narrow beamtransducer. However in an embodiment, the device may have both narrowand wide angle transducers or more that the user can switch between oroperate simultaneously. A single beam may cover a 16-24 degree range. Aconcentric dual beam system uses a first narrow center beam can be usedwithin a second beam of 53 degrees that surrounds the first beamexpanding the coverage. A three beam system uses three sonar beams toform a 90 degree detection range. The transducer may even be configuredin an array with columns of multiple transducers.

The transducers may be configured to the behavior patterns of the fishto be detected. For example, sharks such as great whites frequently swimbelow the fish that are at the surface of the water that they are aboutto eat. They then swim upward when attacking. This provides goodcontrast of light around the target for the shark which has pooreyesight. Thus, if the invention is to be used to detect sharks in anapplication such as a surfboard, the transducers should be facing anarea directly below the user.

In an embodiment, the sonar unit components include a high-powertransmitter, an efficient transducer, a sensitive receiver and a highresolution/contrast display. The high transmitter power results in astrong signal returned to the unit. This is important in deep or poormurky water conditions. Additionally, the increased power allows thedetection of more distinct object detail. The sonar units used and thehousing (type and material) can determine which type of transducers areused. The transducer must be submerged in order to function. This ismost likely from the transom area of the boat or the rear areas or finsof a surfboard or windsurfboard. The receiver dampens extremely strongsignals and amplifies small signals in order to get an effectivereadout. It must also have the capability to separate small targets thatare close together into distinct, separate impulses for the display aswell as not interpreting non-mobile objects as fish. The transducers canalso be sequentially triggered to conserve energy and scan a wide areaaround the user.

The sonar transducer draws electrical power from a battery or solar celland produces signals that are directed towards the area of interest.These signals are reflected by the objects in the path of the signals.The sonar transducer also receives the reflected signals as well asother signals in the target frequency range. The transducer converts theacoustic signals into electrical signals that are forwarded to a signalprocessor. The signal processor filters the transducer signals so thatsignals from target objects are detected while the ambient non-targetobjects do not produce false detection readings. This filtering devicemay be: frequency/amplitude based, an adaptive algorithm, a adaptiveneural network which analyzes a number of input signals or any otherfilter that can remove ambient signals. In a simple frequency basedfilter mechanism, the system removes high frequency signals from smallfish and high amplitude signals from fixed large objects such as theocean floor while in low depth waters. An adaptive filter detectschanges in the input signals and adapts to these changes. By adapting tochanges in ambient sonar signals, the inventive system will remainaccurate as the diver travels from shallow to deep water to wreckageareas. In the neural network embodiment, the system may utilizeadditional input information such as temperature, depth, GPS location,etc and use this information in addition to the sonar signals to moreaccurately filter the transducer signals. By filtering out these ambientand benign signals, the system can leave a specific frequency range opento detect potentially threatening fish or moving objects.

In another embodiment, the system uses a broadband sonar transmission.Broadband echoes contain more information because they encompassfrequencies that provide greater backscatter within one fish speciesrelative to others. A broadband sonar transceiver generates analogechoes, amplifies the echoes, tunes the echoes for the frequencyresponse of the transducer, and transmits the resulting echo from thetransducer. Each “ping” represents 100,000 data points. The systemtypically sends one ping per second. The transducer collects the analogecho returns, applies amplification with adjustable gain to the echoes,and bandpass filters the echoes. The transducer must pass the echoes toan A/D converter capable of sampling at thousands samples per second tosatisfy the sampling criteria and to achieve sufficient amplitude rangeand resolution.

For these broadband sonar signals, a digital processor filters thebroadband echoes to produce frequency spectra. Spectral processingprovides a representation of fish not available to existing fish findingsonar systems. Prior art sonar fish finding devices use time-domainprocessing that counts and integrates echoes. Using spectraldecomposition, it is possible to determine which frequencies are moststrongly reflected by the fish targets. The spectral information ispresented to a neural network classifier which is used to identifyspecific objects. In the sonar sense, different size or species fishreflect a broadband illumination at specific frequencies. Further sonardata has been collected for various types of sea creatures. By using theproper frequency and identifying the reflected signal pattern, theinventive sonar device can be tuned to detect the bladder of specifictypes of fish. Broadband sonar techniques are able to identifyfrequency-dependent fish bladder resonance for several species of fish.This can be particularly useful for identifying hazardous fish such asgreat white sharks and filtering out all other reflected signals.

The signal signatures of fish are created and stored as fuzzy neuralnetwork coefficients in a database. These fuzzy neural networkcoefficients may include: sharks, eels, sea snakes, whales, seaelephants, motor boats, jet skis, submarines, etc. The signals detectedby the sonar transducer are compared to the database of stored signalsby the processing system. This comparison process includes data analysissteps, including performing feature extraction to measure specificcharacteristics of the echo. The system produces digital echoes todetermine whether the sonar pulse has bounced off an object andreturned. The system also uses feature information in the fuzzy neuralnetwork to determine the type object. In the object identificationembodiment, the system may include: a data acquisition processor (DAP),an analog-to-digital (A/D) converter with an onboard microprocessor,that permits the PC-based system to handle the massive amount of datagenerated by sonar transmissions. If the system detects a matchingsignal, a warning signal is sent to an output device.

The digital processor filters may also include a calibration mode whichallows the system to detect the ambient noise from the user's locationand more accurately determine true hazardous objects. In order to usethe calibration mode, the user must first determine that the area ofwater is free of hazardous objects. This is normally done by visuallychecking the surrounding area. The system then transmits sonar testsignals and records the reflected signals. These reflected signalsrepresent the ambient noise for that area. After calibration, the systemfilters the signals by removing the ambient noise. This allows theinventive sonar system to adapt to the ambient conditions of any area ofwater and provide more accurate detection results.

The output device can be any mechanism that will alerts the user. Outputdevices include: a visual display, an acoustic device, a vibrationdevice or any other device which emits a signal that the user candetect. The visual display may be a blinking high visibility light, anLCD screen that shows proximity and movement of the object relative tothe user or any other optical signal that can be detected by the user.An acoustic signal may also warn the user of a close proximity object.The acoustic speaker may be underwater or a normal air type speakerdepending upon the application. The signal must be in the frequencyrange of the human ear. The signal can be a series of pulses or anyother type of alarm sound. The vibration output requires a motor thatcauses the device to vibrate when actuated. The user senses thevibration when the device is in direct or indirect contact with theuser.

Power to the inventive system can be provided by rechargeable batteriesand/or solar cells depending upon the application. In a surfboardembodiment, the board is exposed to sun and solar cells can be used.Similarly, solar cells may also be used by snorklers who are in shallowwaters in sunny conditions. The solar cells may be used to recharge thebatteries so that the device is still active when the solar cell is in ashaded area. Solar cells may not be useful for many scuba divers becausethe water depth reduces the light rays that can reach the divers.Batteries are can be very heavy, however divers typically carry weightbelts. Thus, the weight of the batteries can be used instead of weightson the weight belt to help submerge the diver.

In another embodiment, the system can also be used to detect thepresence of companions. This feature is particularly useful when it isdesirable to keep a group of people together. The inventive system warnsthe user when a companion has strayed from the group. The featuredetects the presence of companion by their reflected sonar signal or bya signal emitted by each of the companions. The system can be set tocalibration mode where the system emits a test signal and records thereflected signals from the companions or the system records sonarsignals emitted by the companions. After calibration, the user andcompanions can travel underwater with the system monitoring the presenceof the companions by their sonar signals. If the system does not detecta strong companion signal, it alerts the user. The user can then stopand look for the companion to keep the group together.

In different embodiments, the inventive system can be integrated intovarious water sport devices. For example with reference to FIG. 2, thesystem can be used with surfboards 241 to warn the surfer of sharks inthe area. The sonar device is self contained and would be installed in ahole or recess formed in the surfboard 241. In this embodiment, thesonar transducer 245 is integrated into the tail section on the bottomof the board 241 with sensor aimed straight down. The warning outputdevice 247 is mounted on the top front of the board 241 where the usercan see and hear the warnings while sitting or laying on the board 241.The battery may be a solar cell 249 on the top of the board 241 and/or abattery built into the board 241.

With reference to FIG. 3, the inventive device may be a hand held device361 contained in a waterproof and pressure proof housing. In thisembodiment, the device 361 can be held by a diver 365 to locate sharksand other large animals. With reference to FIG. 4, the device 361 mayhave a high resolution LCD or a fluorescent cold cathode backlit screen471 that would show proximity of animals to subject. The device 361 alsohas a hand grip 431, a control panel 493 and control buttons 475 thatare part of the user interface and allow the user to control theoperation of the device 361. For example, a control button 475 may beused as a gain adjustment to filter out “false” readings. There would bean option to use a backlit screen 471 for use in limited lightsituations such as night dives. Power would be supplied by rechargeableDC batteries 479 that are carried in the weight belt 477 or disposablebatteries. The battery pack 479 may be a separate unit connected to thesystem 361 with a waterproof cable 451 or integrated into the system.This device 361 would be directional and would not be passively active.As optional features, a GPS device and/or a radio may also be integratedinto the device 361. With reference to FIG. 4, the system 361 may have acover 591 that flips up to allow the user access to the screen 471,control panel 493 and control buttons 475 in the open position andprotect these components in the closed position.

In an embodiment, the system may also be modular in design. Theinventive sonar unit will send and receive signals and display theresults on a variety of output devices that are connected by a wires orwireless communications. The output may be a display (color or black andwhite) having a high resolution and good contrast to show all the detailcrisply and clearly. The sonar scan may be displayed on a screen such asa liquid crystal display (LCD). Increased resolution allows smalltargets like fish and other fine detail to be accurately shown on thedisplay. The screen may illustrate all objects that are in the presenceof the transducer's cone angle. The user can look at the screen anddetermine where the objects (fish) are in relation to the individual aswell as the size of the objects.

Alternatively, the display may be a simple light such as a flashinglight emitting diode (LED) which produces instantaneous blips of lightor an audible signal from a speaker or ear phone which warns the user ofa potential dangerous presence. In these embodiments, the sonar devicewill include a filter which will only transmit a warning signal if thereflected signal produced by the detected object is sufficiently largeto be a concern to the user. In this embodiment, the signal reflectedsignal must be strong enough to represent a large fish that can producebodily harm. The filter is required because the notification of thepresence of any small fish would only be a nuisance to the user. In anembodiment, this filtering mechanism can be adjusted so that warningsignal can be tuned to a specific size of fish depending upon theapplication. For example, windsurfers and surfers are only concernedabout large fish but scuba divers may be very interested in detectingspecific types of small fish.

In yet another embodiment, the system may be configured to emit a sharkrepellant solution or actuate an electronic shark repellant electricalfield when a shark is detected in the area. The shark repellant solutionmay be housed in a container which has an electronically controlledvalve which allows the repellant to be released into the water. When ashark is detected, the microprocessor may actuate the valve to releasethe repellant. The container may be pressurized or have a supplementalgas pressure chamber so that when the valve is actuated, the repellantis forced into the surrounding waters immediately.

In order to be easily handled underwater the portable sonar deviceshould have a buoyancy that is similar to that of the surrounding water.By matching the density of the portable sonar to that of the water, thedevice will not rise or fall. The density of water is 1,000 Kilogramsper cubic meter and the density of salt water is 1,027 kilograms percubic meter. In order to produce a device that has similar buoyancy theinventive portable sonar device should have a weight to volume ratiothat is about 1,000 kg/cubic meter. In order to avoid loosing the deviceif it is dropped, the buoyancy should be slightly less than 1,027kilograms per cubic meter so that the device will float in pure water.

In yet another embodiment, a plurality of the inventive shark detectiondevice can be set up in fixed positions to surround a specific area ofwater, for example a swimming beach area. When a shark is detected, thewarning signals are transmitted to a central receiver which emits awarning signal to alert the people in the area that a shark has beendetected. The warning signal can be an audible or visual signal.Communications between the detectors and the receiver can be through awire, optical fiber, wireless communication or any other suitable meansof communications. Because sea water strongly absorbs electromagneticradio wave communications with submerged detectors are limited to just afew hertz. Alternatively, the detectors may float at the surface withsolar panels and radio antenna exposed to the air and the sonartransmitter and receiver submerged below the surface of the water. Thesecomponents may be integrated into a single unit or configured inseparate units. With the antenna exposed, the can device can emit normalradio frequency signals. By tuning the detection to specific types ofhazardous sharks, the public beaches can be made safer without resortingto nets which can trap sea life.

While the invention has been shown or described in only some of itsforms, it should be apparent to those skilled in the art that it is notso limited, but is susceptible to various changes without departing fromthe scope of the invention. For example, the dampening materials may beformed from a thin film, sheet, molded or a combination thereof, and maybe placed at a variety of interfaces to further reduce vibration andshock.

1. A sonar device having: a transmitter that emits sonar signals; areceiver that receives sonar signals and emits electrical signals; amemory that stores ambient noise for a body of water; a database ofsignals representing a plurality of identifiable types of fish; anelectronic filter that removes ambient noise from the electricalsignals; a microprocessor that interprets filtered electrical signalsand compares the filtered electrical signals to the database of signalsrepresenting the plurality of identifiable types of fish; and an outputdevice that is actuated when the filtered electrical signal correspondsto at least one of the signals representing the identifiable types offish.
 2. The sonar device of claim 1, wherein the ambient noise for abody of water stored in memory is replaced with a second ambient noisefor a second body of water.
 3. The sonar device of claim 1 wherein a GPSlocation signal is an input to the microprocessor.
 4. The sonar deviceof claim 1 wherein a depth signal is an input to the microprocessor. 5.The sonar device of claim 1 wherein the electronic filter includes anambient signal which is recorded by the user.
 6. The sonar device ofclaim 1 wherein the electronic filter includes a recording of ambientsignals in a body of water.
 7. The sonar device of claim 1 wherein somecomponents of the sonar device are mounted within a waterproof housing.8. The sonar device of claim 1 wherein the transmitter and the receiverare mounted on an external surface of a boat.
 9. A sonar device having:a transmitter that emits sonar signals; a receiver that receives sonarsignals and emits electrical signals; a memory that stores ambient noisefor a body of water; a database of signals representing a plurality offish; an electronic filter that removes ambient noise from theelectrical signals; a microprocessor that includes a neural network forinterpreting the electrical signals and comparing the filteredelectrical signals to the database of signals representing the pluralityof fish; and an output device that is actuated when the filteredelectrical signals corresponds to at least one of the signalsrepresenting identifiable types of fish.
 10. The sonar device of claim9, wherein the ambient noise for a body of water stored in memory isreplaced with a second ambient noise for a second body of water.
 11. Thesonar device of claim 9 wherein a GPS location signal is an input to theneural network.
 12. The sonar device of claim 9 wherein a depth signalis an input to the microprocessor.
 13. The sonar device of claim 9wherein the electronic filter includes an ambient signal which isrecorded by the user.
 14. The sonar device of claim 9 wherein theelectronic filter includes a computer program that records an ambientsignal while the sonar device is in a body of water.
 15. The sonardevice of claim 9 wherein some components of the sonar device aremounted within a waterproof housing.
 16. A sonar device having: atransmitter that emits sonar signals; a receiver that receives sonarsignals and emits electrical signals; a memory that stores ambient noisefor a body of water; a database of signals representing a plurality ofidentifiable types of fish; an electronic filter that removes ambientnoise from the electrical signals; a microprocessor that interpretsfiltered electrical signals and compares the filtered electrical signalsto the database of signals representing the plurality of identifiabletypes of fish; an output device that is actuated when the filteredelectrical signal corresponds to at least one of the signalsrepresenting the identifiable types of fish; and a water proof housingthat contains the transmitter, the receiver, the database, theelectronic filter, the microprocessor and the output device; wherein thedensity of the sonar device is about 1.000 kilograms per cubic meter.17. The sonar device of claim 16 wherein a GPS location signal is aninput to the microprocessor.
 18. The sonar device of claim 16 wherein adepth signal is an input to the microprocessor.
 19. The sonar device ofclaim 16 wherein the electronic filter includes an ambient signal whichis recorded by the user.
 20. The sonar device of claim 16 wherein somecomponents of the sonar device are mounted within a waterproof housing.